Surgical forceps and methods of use

ABSTRACT

Provided herein are systems, methods and apparatuses for surgical forceps for an easier and safer retrieval of foreign bodies in passages for better quality of care for patients.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims priority to U.S. provisional application Ser. No. 62/781,245, filed Dec. 18, 2018, herein incorporated by reference in its entirety.

BACKGROUND

The invention generally relates to surgical instruments.

Aerodigestive foreign bodies are an emergency which need intervention as soon as possible. Multiple forceps exist to extract foreign bodies but the most challenging foreign bodies are the smooth rounded foreign bodies which are difficult to grasp with the current forceps in the market. With the current forceps, such foreign bodies can slip distally into the airway. The only instrument available for such foreign bodies are baskets which need 2 persons to handle, it can break easily and need expertise. Easier and safer retrieval of certain foreign bodies in the airway and esophagus leading to better quality of care for patients. The present invention solves these problems, as well as others.

SUMMARY OF THE INVENTION

Provided herein are systems, methods and apparatuses for a Bronchoscopy Forceps.

The methods, systems, and apparatuses are set forth in part in the description which follows, and in part will be obvious from the description, or can be learned by practice of the methods, apparatuses, and systems. The advantages of the methods, apparatuses, and systems will be realized and attained by means of the elements and combinations particularly pointed out in the appended claims. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the methods, apparatuses, and systems, as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

In the accompanying figures, like elements are identified by like reference numerals among the several preferred embodiments of the present invention.

FIG. 1A is a perspective view of the surgical forceps according one embodiment; and FIG. 1B is a perspective view of an alternative embodiment of the surgical forceps.

FIG. 2A is a side view of the surgical forceps according one embodiment; and FIG. 2B is a side view of an alternative embodiment of the surgical forceps.

FIG. 3A is an exploded view of the surgical forceps according one embodiment; and FIG. 3B is an exploded view of an alternative embodiment of the surgical forceps.

FIG. 4A is a side view of the closed position of the surgical forceps according one embodiment; and FIG. 4B is a side view of the closed position of an alternative embodiment of the surgical forceps.

FIG. 5A is a side view of the surgical forceps showing the four-bar mechanism without the pivot housing and central tube according one embodiment; and FIG. 5B is a side view of an alternative embodiment of the surgical forceps showing the three-bar mechanism without the pivot housing.

FIG. 6A is a side view surgical forceps in the closed position with the pivot housing and central tube shown in phantom according to one embodiment; FIG. 6B is a side view surgical forceps in the open position with the pivot housing and central tube according to one embodiment; FIG. 6C is a side view of an alternative embodiment surgical forceps in the closed position with the pivot housing shown in phantom according to one embodiment; and FIG. 6D is a side view of an alternative embodiment surgical forceps in the open position with the pivot housing according to one embodiment.

FIG. 7A is a side view of the four-bar mechanism without the pivot housing and central tube according one embodiment; FIG. 7B is a side view of the four-bar mechanism showing the angles A1-A8 without the pivot housing and central tube according one embodiment; FIG. 7C is a side view of the three-bar mechanism without the pivot housing according one embodiment; and

FIG. 7D is a side view of the three-bar mechanism showing the angles A1 b-A6 b without the pivot housing according one embodiment.

FIG. 8A is perspective view of the pivot housing according one embodiment; FIG. 8B is a top view of the pivot housing according one embodiment; FIG. 8C is a side view of the pivot housing according to one embodiment; FIG. 8D is perspective view of the pivot housing according to an alternative embodiment; FIG. 8E is a top view of the pivot housing according to an alternative; FIG. 8F is a side view of the pivot housing according to an alternative embodiment.

FIG. 9A is a perspective cross sectional view of the pivot housing and the four-bar mechanism coupled with the actuator rod according to one embodiment; FIG. 9B is a perspective view of the four-bar mechanism coupled with the actuator rod without the pivot housing; FIG. 9C is a perspective cross sectional view of the pivot housing and the three-bar mechanism coupled with the actuator rod according to one embodiment; and FIG. 9D is a perspective view of the three-bar mechanism coupled with the actuator rod without the pivot housing.

FIG. 10A is a perspective view of the actuator rod according to one embodiment; FIG. 10B is a side view of the actuator rod according to one embodiment; FIG. 10C is a perspective view of the actuator rod according to one embodiment; and FIG. 10D is a side view of the actuator rod according to one embodiment.

FIG. 11A is a side view of the actuator rod coupled to the first linking actuator and the second linking actuator; FIG. 11B is a side view of the pivot housing coupled with the actuator rod and the tube according to one embodiment; FIG. 11C is a side view of the actuator rod coupled to the second cross link and the pivot housing.

FIG. 12A is a perspective view of the central tube according to one embodiment; FIG. 12B is a back view of the central tube according to one embodiment.

FIG. 13A is a side view of the first jaw according to one embodiment; FIG. 13B is an exploded view of the four-bar mechanism with the first jaw and second jaw separated; FIG. 13C is a perspective view of the second jaw according one embodiment.

FIG. 14A is a perspective view of the first clamp according to one embodiment; FIG. 14B is a bottom view of the first clamp according to one embodiment; and FIG. 14C is a side view of the first clamp according to one embodiment.

FIG. 15 is a perspective exploded view of the four-bar mechanism.

DETAILED DESCRIPTION OF THE INVENTION

The foregoing and other features and advantages of the invention are apparent from the following detailed description of exemplary embodiments, read in conjunction with the accompanying drawings. The detailed description and drawings are merely illustrative of the invention rather than limiting, the scope of the invention being defined by the appended claims and equivalents thereof.

Embodiments of the invention will now be described with reference to the Figures, wherein like numerals reflect like elements throughout. The terminology used in the description presented herein is not intended to be interpreted in any limited or restrictive way, simply because it is being utilized in conjunction with detailed description of certain specific embodiments of the invention. Furthermore, embodiments of the invention may include several novel features, no single one of which is solely responsible for its desirable attributes or which is essential to practicing the invention described herein. The words proximal and distal are applied herein to denote specific ends of components of the instrument described herein. A proximal end refers to the end of an instrument nearer to an operator of the instrument when the instrument is being used. A distal end refers to the end of a component further from the operator and extending towards the surgical area of a patient and/or the implant.

The use of the terms “a” and “an” and “the” and similar referents in the context of describing the invention are to be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. It will be further understood that the terms “comprises,” “comprising,” “includes,” and/or “including,” when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Recitation of ranges of values herein are merely intended to serve as a shorthand method of referring individually to each separate value falling within the range, unless otherwise indicated herein, and each separate value is incorporated into the specification as if it were individually recited herein. The word “about,” when accompanying a numerical value, and the word “nearly” is to be construed as indicating a deviation of up to and inclusive of 10% from the stated numerical value or an estimated position state. The use of any and all examples, or exemplary language (“e.g.” or “such as”) provided herein, is intended merely to better illuminate the invention and does not pose a limitation on the scope of the invention unless otherwise claimed. No language in the specification should be construed as indicating any nonclaimed element as essential to the practice of the invention.

References to “one embodiment,” “an embodiment,” “example embodiment,” “various embodiments,” etc., may indicate that the embodiment(s) of the invention so described may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes the particular feature, structure, or characteristic. Further, repeated use of the phrase “in one embodiment,” or “in an exemplary embodiment,” do not necessarily refer to the same embodiment, although they may.

As used herein the term “method” refers to manners, means, techniques and procedures for accomplishing a given task including, but not limited to, those manners, means, techniques and procedures either known to, or readily developed from known manners, means, techniques and procedures by practitioners of the chemical, pharmacological, biological, biochemical and medical arts. Unless otherwise expressly stated, it is in no way intended that any method or aspect set forth herein be construed as requiring that its steps be performed in a specific order. Accordingly, where a method claim does not specifically state in the claims or descriptions that the steps are to be limited to a specific order, it is no way intended that an order be inferred, in any respect. This holds for any possible non-express basis for interpretation, including matters of logic with respect to arrangement of steps or operational flow, plain meaning derived from grammatical organization or punctuation, or the number or type of aspects described in the specification.

The words proximal and distal are applied herein to denote specific ends of components of the surgical forceps described herein. A proximal end refers to the end of the surgical forceps nearer to an operator of the instrument when the surgical forceps is being used. A distal end refers to the end of a component further from the operator and extending towards the surgical area of a patient.

The surgical forceps provides direct, quicker and safer retrieval of certain foreign bodies. The mechanism of this forceps allows total grasp of certain foreign bodies without slipping. The surgical forceps solves the problem of slippery, rounded foreign bodies. In one embodiment, the surgical forceps are used in bronchoscopy; however, the surgical forceps may be used in other surgical procedures as determined by one of ordinary skill in the art.

As shown in FIGS. 1A-3A, the surgical forceps 100 comprise a first clamp 110 and a second clamp 120 operably coupled to a four-bar mechanism 130 to move the first clamp 110 and the second clamp 120 from a nearly parallel open position to a nearly parallel closed position, as shown in FIG. 4. The four-bar mechanism 130 comprises a first jaw 140 operably coupled to the first clamp 110 and a second jaw 150 operably coupled to the second clamp 120. The first jaw 140 includes a first longitudinal axis 101 and the second jaw 150 includes a second longitudinal axis 103, as shown in FIG. 2. The four-bar mechanism 130 keeps the first longitudinal axis 101 of the first jaw 140 parallel or nearly parallel relative to the second longitudinal axis 103 of the second jaw 150. The nearly parallel can be realized by modifying the lengths of some links, as described below. The four-bar mechanism 130 moves the virtual pivot point of the jaws to infinite to achieve perfectly parallel jaws or to relatively very far points to achieve nearly parallel jaws. The first clamp 110 includes a first gripping portion 118 and the second clamp 120 includes a second gripping portion 128 in which to grip a foreign body when the surgical forceps 100 are in the parallel or nearly parallel closed position. The first jaw 140 is operably attached to a first front link 160 and a first back link 180 and the second jaw 150 is operably attached to a second front link 180 and a second back link 190. The first jaw 140 and second jaw 150 are operably coupled to an actuator rod 200 which moves the first jaw 140 and the second jaw 150 through a first linking actuator 210 and a second linking actuator 220 by a double pivot action. A central tube 250 is operably coupled to the actuator rod 200 and holds a pivot housing 240 to maintain and house the four-bar mechanism 130. The central tube 250 includes an opening through which a camera or viewing mechanism is coaxially disposed for viewing the distal end of the surgical forceps 100.

An alternative embodiment of the surgical forceps 100 b is shown in FIG. 1B-3B, comprises a first clamp 110 b and a second clamp 120 b operably coupled to a three-bar mechanism 130 b to move the first clamp 110 b towards the second clamp 120 b from a nearly parallel open position to a nearly parallel closed position, as shown in FIG. 4B. The three-bar mechanism 130 b comprises a first crosslink 140 b operably coupled to the first clamp 110 b and a second crosslink 150 b operably coupled to the second clamp 120 b. The first crosslink 140 b includes a first longitudinal axis 101 b and the second crosslink 150 b includes a second longitudinal axis 103, as shown in FIG. 2B. The three-bar mechanism 130 b keeps the first longitudinal axis 101 b of the first crosslink 140 b perpendicular or nearly perpendicular relative to the second longitudinal axis 103 b of the second crosslink 150 b. The nearly perpendicular can be realized by modifying the lengths of some links, as described below. The three-bar mechanism 130 b moves the virtual pivot point of the clamps to infinity to achieve perfectly parallel clamps or to relatively very far points to achieve nearly parallel clamps. The first clamp 110 b includes a first gripping portion 118 b and the second clamp 120 b includes a second gripping portion 128 b in which to grip a foreign body when the surgical forceps 100 b are in the parallel or nearly parallel closed position. The first crosslink 140 b is operably attached to the second crosslink 150 b at a central pivot 160 b. The first crosslink 140 b is operably attached to a pivot link 170 b and the second crosslink 150 b is operably attached to the pivot link 170 b. The pivot link 170 b includes a slidable opening 180 b through which the second crosslink longitudinally slides to permit the first clamp 110 b to close. The second crosslink 150 b is operably coupled to an actuator rod 200 b, which moves second crosslink 150 b through a pivot housing 250 b. The pivot housing 250 b is operably coupled to the first crosslink 140 b by way of pivot point 220 b, as shown in FIGS. 2B and 3B. The pivot housing 250 b houses a longitudinal housing 240 b to longitudinally permit the second clamp 120 b to move along the longitudinal housing 240 b. The pivot housing 250 b includes an opening 210 b through which the actuator rod 200 b longitudinally moves.

As shown in FIG. 5A, the four-bar mechanism 130 keeps the open position and the first clamp and the second clamp separated by distance D1 and moves to the closed position where the first clamp 110 and the second clamp 120 are separated by distance D2, as shown in FIG. 4A. Distance D1 may be between about 1 cm and about 20 cm and distance D2 may be between about 0 cm to about 0.9 cm. The distance D1 and D2 may be altered depending on the type of foreign body being removed. The four-bar mechanism comprises a 132 between the first front link 160 and the second front link 170, and a second fixed pivot point 134. The actuator rod 200 moves proximally along the longitudinal axis 105 of the surgical forceps 100, generally shown by arrow 201 in FIG. 6A. The actuator rod 200 pulls the first linking actuator 210 and the second linking actuator 220 which then causes the first pivot point 132 and the second fixed pivot point 134 to pivot. The first pivot point 132 closes the first front link 160 and the second front link 170 while the second fixed pivot point 134 closes a first back link 180 and the second back link 190. This closing action closes the first clamp and the second clamp 120 into a parallel or nearly parallel closed position, while the first jaw 140 and the second jaw 150 maintain the first clamp 110 and the second clamp 120 in a parallel or nearly parallel position during the entire time the actuator rod 200 closes the first pivot point 132 and the second fixed pivot point 134. FIG. 6B is a side view surgical forceps in the open position with the pivot housing 240 and central tube 250 according to one embodiment.

To achieve parallel jaw action of the first longitudinal axis 101 of the first jaw 140 relative to the second longitudinal axis 103 of the second jaw 150, the length L1 between the first pivot point 132 and the second pivot point 134 is identical to the length L2 between pivot points 146 and 148 on first jaw 140, as shown in FIG. 7A. If the length L3 between the second fixed pivot point 134 and 148 on first back link 180 is identical to the length L4 between the first pivot point 132 and the second slide point 146 on first front link 160, then a perfectly parallel mechanism is realized. That is, the longitudinal axis line joining the first pivot point 132 and the second fixed pivot point 134 is perfectly parallel to the longitudinal axis line joining pivot point 146 and 148. The length L6 between pivot point 156 and 158 is identical to the length L1 between the first pivot point 132 and the second pivot point 134, then the longitudinal axis line joining pivot point 156 and 158 is perfectly parallel to the longitudinal axis line joining pivot point 146 and 148. If two lines are parallel to the same line, then they must be parallel to each other. Effectively proving that first jaw 140 is parallel to second jaw 150. In one embodiment, there are two four-bar mechanisms (a special type of parallelogram mechanism), first pivot mechanism comprises of pivots 132, 134, 148, and 146; the second pivot mechanism comprises of pivots 132, 134, 154, and 156.

As shown in FIG. 5B, the three-bar mechanism 130 b keeps the open position and the first clamp 110 b and the second clamp 120 b separated by distance D1 b and moves to the closed position where the first clamp 110 b and the second clamp 120 b are separated by distance D2 b, as shown in FIG. 4B. Distance D1 b may be between about 1 cm and about 20 cm and distance D2 b may be between about 0 cm to about 0.9 cm. The distance D1 b and D2 b may be altered depending on the type of foreign body being removed. The three-bar mechanism comprises a first fixed point 132 b between the first clamp 110 b and the first crosslink 140 b, and a second fixed point 134 b between the second clamp 120 b and the second crosslink 150 b. The actuator rod 200 b moves proximally along the longitudinal axis 105 b of the surgical forceps 100 b, generally shown by arrow 201 b in FIG. 6C. The actuator rod 200 b pulls the second crosslink 150 b along the longitudinal housing 240 b, which then causes the central pivot 160 b to pivot about an axis and rotate the first crosslink 140 b. The rotation of the first crosslink 140 b about the central pivot 160 b closes the first clamp 110 b while the first crosslink 140 b distally moves along the slidable opening 180 b. This closing action closes the first clamp 110 b and the second clamp 120 b into a parallel or nearly parallel closed position, while the first crosslink 140 b and the second crosslink 150 b maintain the first clamp 110 b and the second clamp 120 b in a parallel or nearly parallel position during the entire time the actuator rod 200 b closes the first fixed point 132 b and the second fixed point 134 b. FIG. 6B is a side view of the surgical forceps 100 b in the open position with the longitudinal housing 240 b and pivot housing 250 b according to one embodiment.

To achieve parallel jaw action of the first clamp and the second clamp, the first longitudinal axis 101 b of the first crosslink 140 b relative to the second longitudinal axis 103 b of the second crosslink 150 b is perpendicular, the length L1 between the first fixed point 132 b and the second fixed point 134 is identical to the length L2 between first slide point 146 b on the first crosslink 140 b and second slide point 148 b on the second crosslink 150 b, as shown in FIG. 7C. If the length L3 between the second fixed point 134 b and first slide point 146 b is identical to the length L4 between first fixed point 132 b and second slide point 148 b, then a perfectly parallel mechanism is realized. That is, the longitudinal axis line joining first fixed point 132 b and the second slide point 148 b is perfectly parallel to the longitudinal axis line joining 134 d and 146 b. The longitudinal axis of the first clamp 110 b is perfectly parallel to the longitudinal axis joining the first fixed point 132 b and the second slide point 148 b, and the longitudinal axis of the second clamp 120 b perfectly parallel to the longitudinal axis line joining 134 d and 146 b. If two lines are parallel to the same line, then they must be parallel to each other. Effectively proving that first clamp 110 b is parallel to the second clamp 120 b.

The first clamp 110 b is parallel with respect to the pivot housing 250 b, and the second clamp 120 b is parallel with respect to the pivot housing 250 b during operation. The first crosslink 140 b pivots with respect to first fixed point 132 b, where first fixed point 132 b operates as a pin. The second crosslink 150 b pivots with respect to second fixed point 134 b, where second fixed point 134 b operates as a second pin. The first slide point 146 b slides with respect to slidable opening 180 b, where first slide point 146 b operates as a slide pin. The central pivot 160 b operates as a central pin between the middle portions of the first crosslink 140 b and second crosslink 150 b. The second slide point 148 b slides within the longitudinal housing 240 b by way of pin joint and longitudinal movement of the actuator rod 200 b.

To achieve near parallel jaw action, as shown in FIG. 7B, the length L1 between the first pivot point 132 and the second fixed point 134 is identical to the length L6 between pivot points 146 and 148 on first jaw 140, however, if the length L3 between the second fixed pivot point 134 and 148 on first back link 180 is not identical to the length L4 between 132 and 146 on first front link 160, then a nearly parallel mechanism is realized. That is, the longitudinal axis line joining the first pivot point 132 and the second fixed pivot point 134 is nearly parallel to the longitudinal axis line joining pivot point 146 and 148. The same can be said about the longitudinal axis line joining pivot point 156 and 158 is nearly parallel to the longitudinal axis line joining the first pivot point 132 and the second fixed pivot point 134. If two lines are nearly parallel to the same line, then they must be nearly parallel to each other. Effectively proving that first jaw 140 is nearly parallel to second jaw 150. Note that, there are two four-bar mechanisms first mechanism comprises of pivots 132, 134, 148, and 146; the second mechanism comprises of pivots 132, 134, 154, and 156. To summarize, modifying the length of any of the four links 140, 160, 180 and matching the change on the mirrored links 150, 170, 190 will achieve a general four-bar mechanism with having the first jaw 140 and second jaw 150 being nearly parallel.

As shown in FIG. 7A, the four-bar mechanism 130 comprises the first jaw 140, the second jaw 150, the first front link 160 and the second front link 170, the first back link 180 and the second back link 190, the first linking actuator 210 and the second linking actuator 220, and the actuator rod 200. The first jaw 140 includes a first end 142, a second end 144, and a pivot point 146. The first front link 160 includes a first end 162 and a second end 164, wherein the second end 164 is rotatably coupled with the pivot point 146 of the first jaw 140. The first end 162 is operably coupled with the first pivot point 132. The second front link 170 includes a first end 172 and a second end 174, wherein the second end is operably coupled with the first pivot point 132 and the first end 172 is rotatably coupled with a pivot point 156 on the second jaw 150. The second jaw 150 includes a first end 152 and a second end 154, wherein the pivot point 156 is disposed on the first end 152. The second end 154 of the second jaw 150 includes a second pivot point 158 on the second end 154, wherein the second pivot point 158 is operably coupled with the second back link 190. The second back link 190 includes a first end 192 and a second end 194, wherein the second end 194 is rotatably coupled with the second pivot point 158 and the first end 192 is operably coupled with the second fixed pivot point 134. The first back link 180 includes a first end 182 and a second end 184, wherein the second end 184 is operably coupled with the second fixed pivot point 134 and the first end 182 is operably coupled with a second pivot point 148 on the second end 144 of the first jaw 140. The second pivot point 148 is operably coupled with the first linking actuator 210. The first linking actuator 210 includes a first end 212 and a second end 214, wherein the first end 212 is operably coupled with the second pivot point 148 of the first jaw 140 and the second end 214 includes a back pivot point 216. The back pivot point 216 is operably coupled with the second linking actuator 220. The second linking actuator 220 includes a first end 222 and a second end 224, wherein the first end 222 is operably coupled with the second pivot point 158 of the second jaw 150, and the second end 224 is operably coupled with the back pivot point 216. The back pivot point 216 is further coupled with the actuator rod 200. As indicated previously, the distal longitudinal movement of the actuator rod 200 pivots the four-bar mechanism 130.

As shown in FIG. 7B, the first jaw 140 makes an angle A1 with the first front link 160, the first front link 160 makes an angle A3 with the second front link 170, the second front link 170 makes an angle A2 with the second jaw 150, the second jaw 150 makes an angle A5 with the second back link 190, the second back link 190 makes an angle A6 with the first back link 180, the first back link makes an angle A4 with the first jaw 140, the second back link 180 makes an angle A7 with the first linking actuator 210, the first linking actuator makes an angle A9 with the second linking actuator 220, and the second linking actuator 220 makes an angle A8 with the second back link 190. In the open position, the angle A1 is greater than about 90 degrees, the angle A3 is greater than about 180 degrees, the angle A2 is greater than about 90 degrees, the angle A4 is greater than about 45 degrees, the angle A5 is greater than about 45 degrees, the angle A6 is greater than about 180 degrees, the angle A7 is less than about 45 degrees, the angle A8 is less than about 45 degrees, and the angle A9 is about 45 degrees. Upon distal longitudinal movement of the actuator rod 200 to the closed position, the angle A1 pivots from pivot point 146 to be less than about 20 degrees, the angle A2 pivots from pivot point 156 to be less than about 20 degrees, the angle A3 pivots from first pivot point 132 to be less than about 20 degrees, the angle A4 pivots about second pivot point 148 to be less than about 20 degrees, the angle A5 pivots about second pivot point 158 to be less than about 20 degrees, the angle A6 pivots about the second fixed pivot point 134 to be less than about 20 degrees, the angle A7 pivots about second pivot point 148 to be less than about 20 degrees, the angle A8 pivots about second pivot point 158 to be less than about 20 degrees, the angle A9 pivots about the back pivot point 216 to be less than about 10 degrees. The four-bar mechanism 130 translates and pivots about in the pivot housing 240.

To achieve near parallel jaw action in surgical forceps 100 b, as shown in FIG. 7D, the length L1 b between the first fixed point 132 b and second fixed point 134 b is identical to the length L2 b between first slide point 146 b and second slide point 148 b, however, if the length L3 b between the first fixed point 132 b and second slide point 148 b is not identical to the length L4 b between 134 b and 146 b, then a nearly parallel mechanism is realized. That is, the longitudinal axis line joining the first fixed point 132 b and the second slide point 148 b is nearly parallel to the longitudinal axis line joining first slide point 146 b and the second fixed point 134 b. If two lines are nearly parallel to the same line, then they must be nearly parallel to each other. Effectively proving that first clamp 110 b is nearly parallel to second clamp 120 b.

As shown in FIG. 7C, the three-bar mechanism 130 b comprises the first crosslink 140 b, the second crosslink 150 b, the pivot link 170 b, and the actuator rod 200. The first crosslink 140 b includes a first end 142 b, a second end 144 b, and the central pivot 160 b. The second crosslink 150 b includes a first end 152 b, a second end 154 b, and the central pivot 160 b, wherein the first crosslink 140 b and the second crosslink 150 b are rotatably coupled with the central pivot 160 b. The pivot link 170 b includes a first end 172 b, a second end 174 b, and the slidable opening 180 b, wherein the slidable opening 180 b is operably disposed between the first end 172 b and the second end 174 b. The second end 174 b is operably coupled with the first slide point 146 b and the first end 172 b is rotatably coupled with a second fixed point 134 b on the second crosslink 150 b. The second fixed point 134 b is disposed on the first end 152 b of the second crosslink 150 b, and the first end 152 b is operably coupled with the first end 172 b of the pivot link 170 b. The second end 154 b of the second crosslink 150 b includes the second slide point 148 b, wherein the second slide point 148 b is operably coupled with the actuator rod 200 b. The second slide point 148 b is further coupled with the actuator rod 200. As indicated previously, the distal longitudinal movement of the actuator rod 200 b pivots the three-bar mechanism 130 b about central pivot 160 b.

As shown in FIG. 7D, the first crosslink 140 b makes an angle A1 b with the second crosslink 150 b between the first fixed point 132 b and the second fixed point 134 b, the first crosslink 140 b makes an angle A2 b with the second crosslink 150 b between first fixed point 132 b and the second slide point 148 b, the first crosslink 140 b makes an angle A3 b with the second crosslink 150 b between first slide point 146 b and second slide point 148 b, the first crosslink 140 b makes an angle A4 b with the second crosslink 150 b between first slide point 146 b and second fixed point 134 b, the first crosslink 140 b makes an angle A5 b with the pivot link 170 b, the second crosslink 150 b makes an angle A6 b with the actuator rod 200 b, and the second crosslink 150 b makes an angle A7 b with the pivot link 170 b. In the open position, the angle A1 is equal to angle A2 b, A3 b, and A4 b is about 90 degrees. The angle A5 b is greater than about 90 degrees, the angle A6 b is greater than about 90 degrees, and the angle A7 b is less than about 45 degrees. Upon distal longitudinal movement of the actuator rod 200 b to the closed position, the angle A1 b pivots about central pivot 160 b to be less than about 90 degrees, the angle A2 b pivots about central pivot 160 b to be greater than about 90 degrees, the angle A3 b pivots about central pivot 160 b to be less than about 90 degrees, the angle A4 b pivots about central pivot 160 b to be greater than about 90 degrees, the angle A5 b pivots the second end 174 of the second front link 170 to be greater than about 120 degrees, the angle A6 b pivots about the second slide point 148 b to be greater than about 120 degrees, the angle A1 b pivots about second fixed point 134 b to be less than about 10 degrees. The three-bar mechanism 130 b translates and pivots about in the pivot housing 250 b.

As shown in FIGS. 8A-8C, the pivot housing 240 includes a distal end 241, a proximal end 243, and a pivot lumen 242 in which the four-bar mechanism 130 is operably disposed. The pivot lumen 242 includes a middle pivot pin 244 and a distal pivot pin 246. The middle pivot pin 244 operably couples with the second fixed pivot point 134 and the distal pivot pin 246 operably couples with the first pivot point 132, as shown in FIG. 9A. The first pivot point 132 rotates about the distal pivot pin 246, generally shown by arrow P1 in FIG. 8B. The second fixed pivot point 134 rotates about middle pivot pin 244, generally shown by arrow P2 in FIG. 8B. The pivot lumen 242 includes a thickness Tp and the distal pivot pin 246 and the middle pivot pin 244 include a thickness that is equal to thickness Tp as to secure the first pivot point 132 and the second fixed pivot point 134. The thickness Tp of the pivot lumen 242 also permits the four-bar mechanism 130 to rotatably move there within. The pivot housing 240 includes a top portion 245 on which the central tube 250 is operably disposed, as shown in FIG. 6B. The proximal end 243 includes a distal opening 248. The actuator rod 200 is operably disposed through the distal opening 248, as shown in FIG. 9A. The distal opening 248 is sized as to permit the longitudinal movement of the actuator rod 200, generally shown by arrow 247.

As shown in FIGS. 8D-8F, the pivot housing 250 b includes a distal end 251 b, a proximal end 253 b, and a pivot lumen 252 b in which the three-bar mechanism 130 b is operably disposed. The pivot lumen 242 b includes a distal pivot pin 254 b and the longitudinal housing 240 b. The longitudinal housing 240 b operably couples with the second slide point 148 b and the distal pivot pin 256 b operably couples with the first fixed point 132 b, as shown in FIG. 9C. The first fixed point 132 b holds the first clamp 110 b in a fixed horizontal position, generally shown by arrow P1 b in FIG. 9C. The second slide point 148 b longitudinally slides along the longitudinal housing 240 b, generally shown by arrow P2 b in FIG. 8E. The longitudinal housing 240 b includes a height Hb and a thickness Th to permit the second slide point 148 b to longitudinally traverse the longitudinal housing 240 b. The longitudinal housing 240 b is disposed within the side portions 255 b of the pivot housing 250 b, as shown in FIG. 8E. The distal pivot pin 256 b include a thickness that is equal to thickness of the first fixed point 132 b as to secure the first end 142 b of the first crosslink 140 b and the first clamp 110 b. The proximal end 253 b includes a distal opening 258 b. The actuator rod 200 b is operably disposed through the distal opening 258 b, as shown in FIG. 9C. The distal opening 248 is sized as to permit the longitudinal movement of the actuator rod 200 b through the longitudinal housing 240 b, generally shown by arrow 257 b.

As shown in FIG. 9B and FIG. 10A, the actuator rod 200 is operably coupled with the four-bar mechanism 130. The actuator rod 200 includes a distal end 202 and a proximal end 204, wherein the distal end 202 includes a distal pivot pin 206. The distal pivot pin 206 is further shown in FIG. 10A. The distal pivot pin 206 includes a top portion 207 and a bottom portion 208, as shown in FIG. 10B. The distal pivot pin 206 includes a general circular configuration. The top portion 207 is operably coupled with the second end 214 of the first linking actuator 210 and the bottom portion 208 is operably coupled with the second end 224 of the second linking actuator 220, in one embodiment, as shown in FIG. 11A. Alternatively, the top portion 207 is operably coupled with the second end 224 of the second linking actuator 220 and the bottom portion 208 is operably coupled with the second end 216 of the first linking actuator 210, in another embodiment. The general circular configuration of the distal pivot pin 206 allows the first linking actuator 210 and second linking actuator 220 to rotate about the back pivot point 216 during operation. In one embodiment, the top portion 207 includes a thickness T1 and the bottom portion includes a thickness T2. The first linking actuator 210 and the second linking actuator 220 include a thickness T3 and T4, respectively, which are equal to the thickness T1 and T2 of the top portion 207 and the bottom portion 208.

As shown in FIG. 9C and FIG. 10C, the actuator rod 200 b is operably coupled with the three-bar mechanism 130 b. The actuator rod 200 b includes a distal end 202 b and a proximal end 204 b, wherein the distal end 202 b includes a distal pivot pin 206 b. The distal pivot pin 206 is further shown in FIG. 10C. The distal pivot pin 206 b includes a top portion 207 b and a bottom portion 208 b, as shown in FIG. 10D. The distal pivot pin 206 b includes a general circular configuration. The top portion 207 b is operably coupled with the longitudinal housing 240 b and the bottom portion 208 b is operably coupled with the second end 154 b of the second crosslink 150 b, in one embodiment, as shown in FIG. 11C. Alternatively, the top portion 207 b is operably coupled with the second end 154 b of the second crosslink 150 b and the bottom portion 208 b is operably coupled with the longitudinal housing 240 b, in another embodiment. The general circular configuration of the distal pivot pin 206 b allows the second end 154 b to slide along the longitudinal housing 240 b to rotate the second crosslink 150 b about the central pivot 160 b during operation. In one embodiment, the top portion 207 b includes a thickness T1 b and the bottom portion 208 b includes a thickness T2 b. The second crosslink 150 b includes a thickness T3 which is equal or less than the thickness T1 b of the top portion 207 b. The bottom portion 208 b thickness T2 b is sufficient to engage and slide along longitudinal housing 240 b.

As shown in FIG. 11B, the actuator rod 200 is operably coupled with the pivot housing 240 and the central tube 250. As shown in FIGS. 12A-12B, the central tube includes a distal end 251 and a proximal end 252. The proximal end 252 includes the opening 124 extending from the proximal end 252 to the middle portion 255 of the central tube 250 and the distal end 251 includes a curved profile for seating a camera or other imaging device. On the bottom portion 256 of the central tube 250, a bottom lumen 254 is disposed for coupling the actuator rod 200. The bottom lumen 254 includes a circumference to permit the longitudinal movement of the actuator rod 200. The pivot housing 240 sits on the bottom portion 256 of the central tube 250 and against the distal end 257 of the bottom lumen 254. The distal opening 248 of the pivot housing 240 is coaxially aligned with the distal end 257 of the bottom lumen 254 to permit seamless longitudinal movement of the actuator rod 200 there between.

As shown in FIG. 9D and 11C, the actuator rod 200 b is operably coupled with the pivot housing 240. The distal opening 258 b of the pivot housing 250 b is coaxially aligned with the distal end of the actuator rod 200 b to permit seamless longitudinal movement of the actuator rod 200 there between.

As shown in FIGS. 9C-9D, the pivot link 170 b includes a second end 174 b and a first end 172 b and the slidable opening 180 b between the second end 174 b and the first end 172 b The second end 144 b of first crosslink 140 b includes a circular configuration to engage the slidable opening 180 b and form the first slide point 146 b. When the actuator rod 200 b is longitudinally moved distally, the second end 144 b of the first crosslink 140 b moves in direction P3 b, shown in FIG. 9C, and causes the first crosslink 140 b to rotate about central pivot 160 b and close the first clamp 110 b and the second clamp 120 b. When the actuator rod 200 b is longitudinally moved proximally, the second end 144 b of the first crosslink 140 b moves in direction P4 b, shown in FIG. 9D, and causes the first crosslink 140 b to rotate about central pivot 160 b and open the first clamp 110 b and the second clamp 120 b. The first crosslink 140 b holds the first clamp 110 b in the fixed horizontal position during opening and closing of the surgical forceps.

As shown in FIG. 13A, the first jaw 140 includes the first end 142, the second end 144, with a distal opening 141 on the first end 142 and a proximal pin 143 disposed on the bottom portion 145 of the second end 144. The proximal pin 143 operates the second pivot point 148 and rotatably couples the first linking actuator 210 and the second front link 180 as shown in FIG. 13B. The second jaw 150 is shown in FIG. 13C and includes the first end 152, the second end 154, with a distal opening 151 on the first end 152 and a proximal pin 153 disposed on the top portion 155 of the second end 154. The proximal pin 153 operates the second pivot point 158 and rotatably couples the second linking actuator 220 and the second back link 190. The first end 142 of the first jaw 140 include a connection portion 149 to attach the first clamp 110 and the first end 152 of the second jaw 150 include a connection portion 159 to attach the second clamp 120.

As shown in FIGS. 14A-14C, the first clamp 110 is generally shown and is identical to the second clamp 120. The first clamp 110 includes a first end 111 and a second end 112 with a first gripping portion 118 extending from the first end 111 to the second end 112. Either the first end 111 or the second end 112 is operably attached to the first jaw 140. The first gripping portion 118 is operably disposed on the bottom portion 113 of the first clamp 110. The first gripping portion 118 may comprise a plurality of teeth 114, or alternatively, the first gripping portion 118 may include a textured surface or other gripping elements to secure and grip a foreign body. The first gripping portion 118 includes a length L8 which is sufficient to secure a foreign body and may be adjustable. The plurality of teeth 114 may include a height H1 from the bottom portion 113, which is sufficient to secure a foreign body and may be adjusted accordingly. In one embodiment, the bottom portion 113 includes a general curved cross sectional profile, which thereby imparts a curved cross sectional profile for the first gripping portion 118. In one embodiment, the first clamp 110 includes a central opening 115 extending from the first end 111 and the second end 112. The central opening 115 may be configured to permit the foreign body to extend through the central opening 115 when the four-bar mechanism is in the closed position. This may prevent any kinking or deterrence of the four-bar mechanism from closing if the foreign body is larger than the closed position of the four-bar mechanism.

As shown in FIG. 15, the first jaw 140 includes the first end 142, the second end 144, and a first pivot point 146 a disposed on the first end 142. The first pivot point 146 a is a generally circular opening operably coupled with a second pivot point 146 c on the second end 164 of the first front link 160. The second pivot point 146 c is a generally circular opening matched to the first pivot point 146 a. The first pivot point 146 a coaxially aligns with the second pivot point 146 c to permit rotational movement of the first front link 160 relative to the first jaw 140, which remains in a parallel or nearly parallel position during the transition from the open to closed position. The first end 162 of the first front link 160 includes a first pivot point 132 a that coaxially aligns with a second pivot point 132 c on the second end 174 of the second front link 170. The first pivot point 132 a and the second pivot point 132 c include a matched generally circular opening. The first pivot point 132 a, the second pivot point 132 c, and the first pivot point 132 coaxially align to permit rotational movement of the first front link 160 and the second front link 170, which decreases angle As during the transition from the open to closed position.

The first end 172 of the second front link 170 includes a first pivot point 156 a that coaxially aligns with a second pivot point 156 b on the first end 152 of the second jaw 150. The first pivot point 156 a and the second pivot point 156 b include a matched generally circular opening. The first pivot point 156 a coaxially aligns with the second pivot point 156 b to permit rotational movement of the second front link 170 relative to the second jaw 150, which remains in a parallel or nearly parallel position during the transition from the open to closed position.

As shown in FIG. 15, the second end 154 of the second jaw 150 includes the proximal pin 153 rotatably coupled with a first pivot point 158 a on the second end 194 of the second back link 190 and a second pivot point 158 b on the first end 222 of the second linking actuator 220. The first pivot point 158 a and the second pivot point 158 b include a matched generally circular opening to the proximal pin 153. The first pivot point 158 a coaxially aligns with the second pivot point 158 b and the proximal pin 153 to permit rotational movement of the second back link 190 relative to the second jaw 150 to decrease angle A5 during the transition from the open to closed position, and rotational movement of the second linking actuator 220 relative to the second back link 190 to decrease angle A8 during the transition from the open to closed position.

The second back link 190 includes a second pivot point 134 d on the first end 192, wherein the second pivot point 134 a is rotatably coupled with a first pivot point 134 c on the second end 184 of the first back link 180. The first pivot point 134 c and the second pivot point 134 d include a matched generally circular opening. The first pivot point 134 c coaxially aligns with the second pivot point 134 d to permit rotational movement of the second back link 190 relative to the first back link 180, which closes angle A6 position during the transition from the open to closed position.

The first back link 180 includes a second pivot point 148 c on the first end 182, wherein the first end 142 of the first jaw 140 includes the proximal pin 143 and the first end 212 of the first linking actuator 210 includes a first pivot point 148 a. The first pivot point 148 a and the second pivot point 148 c coaxially align with the proximal pin 143. The first pivot point 148 a and the second pivot point 148 c include a matched generally circular opening to the proximal pin 143. The first pivot point 148 a coaxially aligns with the second pivot point 148 c and the proximal pin 143 to permit rotational movement of the first back link 180 relative to the first jaw 140 to decrease angle A4 during the transition from the open to closed position, and rotational movement of the first linking actuator 210 relative to the first back link 180 to decrease angle A7 during the transition from the open to closed position.

The first linking actuator 210 includes a second pivot point 216 b on the second end 214, wherein the second end 224 of the second linking actuator 220 includes a first pivot point 216 a. The second pivot point 216 b and the first pivot point 216 a are coaxially coupled with the distal pivot pin 206 on either the top portion 207 or bottom portion 208. The first pivot point 216 a and the second pivot point 216 b include a matched generally circular opening to the distal pivot pin 206. The first pivot point 216 a coaxially aligns with the second pivot point 216 b and the distal pivot pin 206 to permit rotational movement of the first linking actuator 210 relative to the second linking actuator 220 to decrease angle A9 during the transition from the open to closed position when the actuator rod 200 is longitudinally moved towards the proximal end of the surgical forceps.

As can be understood by one skilled in the art, the surgical forceps 100 and/or any of its components may have any size, shape, length, thickness, height, weight, or any other parameters. Such parameters may be selected by the surgeon (or other qualified professional) for performance of specific procedures. Further, the surgical forceps and/or any of its components may be manufactured from metal, plastic, synthetic material, or other suitable materials, or any combination thereof. In one embodiment, the surgical forceps 100 is composed of a metal alloy, titanium, nitinol, or stainless steel, or alternatively, any medical grade composite or ceramic.

In some embodiments, various lengths and configurations may also include various features to accommodate different applications for the surgical forceps. The surgical forceps can be constructed of various materials to aid in radio translucency, strength, flexibility, and integration with anatomy, etc.

All publications and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication or patent application was specifically and individually indicated to be incorporated by reference.

While the invention has been described in connection with various embodiments, it will be understood that the invention is capable of further modifications. This application is intended to cover any variations, uses or adaptations of the invention following, in general, the principles of the invention, and including such departures from the present disclosure as, within the known and customary practice within the art to which the invention pertains. 

What is claimed is:
 1. Surgical forceps comprising: a first clamp and a second clamp operably coupled to a three-bar mechanism to move the first clamp towards the second clamp from a nearly parallel open position to a parallel or nearly parallel closed position; the three-bar mechanism comprising a first crosslink operably coupled to the first clamp and a second crosslink operably coupled to the second clamp; the first crosslink includes a first longitudinal axis and the second crosslink includes a second longitudinal axis; the three-bar mechanism keeps the first longitudinal axis of the first crosslink perpendicular or nearly perpendicular relative to the second longitudinal axis of the second crosslink; the three-bar mechanism moves the first clamp and the second clamp to achieve a parallel first clamp and a parallel second clamp; the first clamp includes a first gripping portion and the second clamp includes a second gripping portion in which to grip a foreign body when the surgical forceps are in the parallel or nearly parallel closed position; the first crosslink is operably attached to the second crosslink at a central pivot; the first crosslink is operably attached to a pivot link and the second crosslink is operably attached to the pivot link; the pivot link includes a slidable opening through which the second crosslink longitudinally slides to permit the first clamp to close; the second crosslink is operably coupled to an actuator rod, which moves second crosslink through a pivot housing; the pivot housing is operably coupled to the first crosslink by way of pivot point; the pivot housing houses a longitudinal housing to longitudinally permit the second clamp to move along the longitudinal housing; and the pivot housing includes an opening through which the actuator rod longitudinally moves.
 2. The surgical forceps of claim 1, wherein the three-bar mechanism keeps the nearly parallel open position and the first clamp and the second clamp separated by distance D1 b and moves to the parallel or nearly parallel closed position where the first clamp and the second clamp are separated by a distance D2 b; distance D1 b may be between about 1 cm and about 20 cm and the distance D2 b may be between about 0 cm to about 0.9 cm; the three-bar mechanism comprises a first fixed point between the first clamp and the first crosslink, and a second fixed point between the second clamp and the second crosslink; the actuator rod moves proximally along a longitudinal axis of the surgical forceps and the actuator rod pulls the second crosslink along the longitudinal housing, which then causes the central pivot to pivot about an axis and rotate the first crosslink; a rotation of the first crosslink about the central pivot closes the first clamp while the first crosslink distally moves along the slidable opening; and closing the first clamp and the second clamp into the parallel or nearly parallel closed position, while the first crosslink and the second crosslink maintain the first clamp and the second clamp in the parallel or nearly parallel position during the transition from the open position to the closed position, and the actuator rod closes the first fixed point and the second fixed point.
 3. The surgical forceps of claim 2, wherein a length L1 between the first fixed point and the second fixed point is identical to a length L2 between first slide point on the first crosslink and second slide point on the second crosslink to achieve parallel jaw action of the first clamp and the second clamp, a longitudinal axis of the first crosslink relative to the second longitudinal axis of the second crosslink is perpendicular, a length L1 between the first fixed point and the second fixed point is identical to a length L2 between the first slide point on the first crosslink and the second slide point on the second crosslink; a length L3 between the second fixed point and the first slide point is identical to a length L4 between the second fixed point and the second slide point for a perfectly parallel mechanism; wherein a longitudinal axis line joining and is perfectly parallel to a longitudinal axis line joining the second fixed point and the first slide point; and a longitudinal axis of the first clamp is perfectly parallel to a longitudinal axis joining second fixed point and the second slide point, and a longitudinal axis of the second clamp perfectly parallel to a longitudinal axis line joining second fixed point and the first slide point.
 4. The surgical forceps of claim 3, a length L1 b between the first fixed point and the second fixed point is identical to a length L2 b between the first slide point and the second slide point; the first clamp is parallel with respect to the pivot housing, and the second clamp is parallel with respect to the pivot housing during operation; the first crosslink pivots with respect to first fixed point, where the first fixed point operates as a pin; the second crosslink pivots with respect to second fixed point, where the second fixed point operates as a second pin; the first slide point slides with respect to slide opening, where the first slide point operates as a first pin; the central pivot operates as a central pin between a middle portion of the first crosslink and a middle portion of the second crosslink; the second slide point slides within the longitudinal housing by way of a pin joint and longitudinal movement of the actuator rod.
 5. The surgical forceps of claim 3, a length L3 b between the first fixed point and the second slide point is not identical to a length L4 b between the second fixed point and the first slide point, then a nearly parallel mechanism is realized; and a longitudinal axis line joining the first fixed point and the second slide point is nearly parallel to a longitudinal axis line joining first slide point and the second fixed point.
 6. The surgical forceps of claim 5, wherein the first crosslink includes a first end, a second end, and a pivot point; the second crosslink includes a first end, a second end, and the pivot point, wherein the first crosslink and the second crosslink are rotatably coupled with the pivot point; the pivot link includes a first end, a second end, and the slidable opening, wherein the slidable opening is operably disposed between the first end and the second end; the second end of the pivot link is operably coupled with the first slide point and the first end of the pivot link is rotatably coupled with the second fixed point on the second crosslink; the second fixed point is disposed on the first end of the second crosslink, and the first end of the second crosslink is operably coupled with the first end of the pivot link; and the second end of the second crosslink includes the second slide point, wherein the second slide point is operably coupled with the actuator rod; a back fixed point is coupled with the actuator rod.
 7. The surgical forceps of claim 6, wherein the first crosslink makes an angle Alb with the second crosslink between the first fixed point and the second fixed point, the first crosslink makes an angle A2 b with the second crosslink between the first fixed point and the second slide point, the first crosslink makes an angle A3 b with the second crosslink between the first slide point and the second slide point, the first crosslink makes an angle A4 b with the second crosslink between the first slide point and the second fixed point, the first crosslink makes an angle A5 b with the pivot link, the second crosslink makes an angle A6 b with the actuator rod, and the second crosslink makes an angle A1 b with the pivot link; where in the open position, the angle A1 is equal to angle A2 b, A3 b, and A4 b is about 90 degrees; the angle A5 b is greater than about 90 degrees, the angle A6 b is greater than about 90 degrees, and the angle A7 b is less than about 45 degrees; and upon distal longitudinal movement of the actuator rod to the closed position, an angle A1 b pivots about central pivot to be less than about 90 degrees, an angle A2 b pivots about the central pivot to be greater than about 90 degrees, an angle A3 b pivots about the central pivot to be less than about 90 degrees, an angle A4 b pivots about the central pivot to be greater than about 90 degrees, an angle A5 b pivots second end of the pivot link to be greater than about 120 degrees, an angle A6 b pivots about the second slide point to be greater than about 120 degrees, an angle A7 b pivots about the second fixed point to be less than about 10 degrees.
 8. The surgical forceps of claim 7, wherein the pivot housing includes a distal end, a proximal end, and a pivot lumen in which the three-bar mechanism 130 b is operably disposed; the pivot lumen includes a distal pivot pin and the longitudinal housing; the longitudinal housing operably couples with the second slide point and the distal pivot pin operably couples with the first fixed point; the first fixed point holds the first clamp in a fixed horizontal position; the second slide point longitudinally slides along the longitudinal housing; the longitudinal housing includes a height Hb and a thickness Th to permit the second slide point to longitudinally traverse the longitudinal housing; the longitudinal housing is disposed within a side portion of the pivot housing; the distal pivot pin include a thickness that is equal to thickness of the first fixed point as to secure the first end of the first crosslink and the first clamp; the proximal end includes a distal opening and the actuator rod is operably disposed through the distal opening; and the distal opening is sized as to permit an longitudinal movement of the actuator rod through the longitudinal housing.
 9. The surgical forceps of claim 7, wherein the actuator rod includes a distal end and a proximal end, wherein the distal end includes a distal pivot pin; the distal pivot pin includes a top portion and a bottom portion; a distal pivot includes a general circular configuration; the top portion is operably coupled with the longitudinal housing and the bottom portion is operably coupled with the second end of the second crosslink 150 b, in one embodiment; the general circular configuration of the distal pivot allows the second end to slide along the longitudinal housing to rotate the second crosslink about the central pivot during operation; the top portion includes a thickness T1 b and the bottom portion includes a thickness T2 b; the second crosslink includes a thickness T3 which is equal or less than the thickness T1 b of the top portion; and the thickness T2 b includes a thickness sufficient to engage and slide along longitudinal housing.
 10. The surgical forceps of claim 9, wherein the pivot link includes a distal end and a proximal end and the slidable opening between the distal end and the proximal end; a second end of first crosslink includes a circular configuration to engage the slidable opening and form the first slide point; when the actuator rod is longitudinally moved distally, the second end of the first crosslink moves in a longitudinal direction and causes the first crosslink to rotate about the central pivot and close the first clamp and the second clamp; when the actuator rod is longitudinally moved proximally, the second end of the first crosslink moves in the longitudinal direction, and causes the first crosslink to rotate about the central pivot and open the first clamp and the second clamp; and the first crosslink holds the first clamp in a fixed horizontal position during opening and closing of the surgical forceps.
 11. A surgical forceps comprising: a first clamp and a second clamp operably coupled to a four-bar mechanism to move the first clamp and the second clamp from an open position to a closed position; the four-bar mechanism includes a first jaw operably coupled to the first clamp and a second jaw operably coupled to the second clamp; the first clamp includes a first gripping portion and the second clamp includes a second gripping portion in which to grip a foreign body when the surgical forceps are in a parallel closed position; the first jaw is operably attached to a first front link and a first back link, and the second jaw is operably attached to a second front link and a second back link; the first jaw and second jaw are operably coupled to an actuator rod which moves the first jaw and the second jaw through a first linking actuator and a second linking actuator by a double pivot action; a central tube is operably coupled to the actuator rod and holds a pivot housing to maintain and house the four-bar mechanism; and the central tube includes an opening through which a camera or viewing mechanism is coaxially disposed for viewing a distal end of the surgical forceps.
 12. The surgical forceps of claim 11, wherein the first jaw includes a first longitudinal axis and the second jaw includes a second longitudinal axis, and the four-bar mechanism keeps the first longitudinal axis of the first jaw parallel or nearly parallel relative to the second longitudinal axis of the second jaw.
 13. The surgical forceps of claim 12, wherein the four-bar mechanism keeps the open position and the first clamp and the second clamp separated by distance D1 and moves to the closed position where the first clamp 110 and the second clamp 120 are separated by a distance D2, wherein distance D1 may be between about 1 cm and about 20 cm and the distance D2 may be between about 0 cm to about 0.9 cm.
 14. The surgical forceps of claim 13, wherein the actuator rod moves proximally along a longitudinal axis of the surgical forceps and the actuator rod pulls the first linking actuator and the second linking actuator which then causes a first fixed pivot point and a second fixed pivot point to pivot; and the first fixed pivot point closes the first front link and the second front link while the second fixed pivot point closes the first back link and the second back link which closes the first clamp and the second clamp into the parallel or nearly parallel closed position, while the first jaw and the second jaw maintain the first clamp and the second clamp in a nearly parallel position during the transition from the open position to the closed position, and the actuator rod closes the first fixed pivot point and the second fixed pivot point.
 15. The surgical forceps of claim 14, wherein the first jaw includes a first end, a second end, and a pivot point; the first front link includes a first end and a second end, wherein the second end is rotatably coupled with the pivot point of the first jaw; the first end is operably coupled with the first fixed pivot point; the second front link includes a first end and a second end, wherein the second end of the second front link is operably coupled with the first fixed pivot point and the first end of the second front link is rotatably coupled with a pivot point on the second jaw; the second jaw includes a first end and a second end, wherein the pivot point is disposed on the first end of the second jaw; the second end of the second jaw includes a second pivot point, wherein the second pivot point is operably coupled with the second back link; the second back link includes a first end and a second end, wherein the second end of the second back link is rotatably coupled with the second pivot point and the first end of the second back link is operably coupled with the second fixed pivot point; the first back link includes a first end and a second end, wherein the second end of the first back link is operably coupled with the second fixed pivot point and the first end of the first back link is operably coupled with a second pivot point on the second end of the first jaw; the second pivot point is operably coupled with the first linking actuator; the first linking actuator includes a first end and a second end, wherein the first end of the first linking actuator is operably coupled with the second pivot point of the first jaw and the second end of the first linking actuator includes a back pivot point; and the back pivot point is operably coupled with the second linking actuator; the second linking actuator includes a first end and a second end, wherein the first end of the second linking actuator is operably coupled with the second pivot point of the second jaw, and the second end of the second linking actuator is operably coupled with the back pivot point; the back pivot point is coupled with the actuator rod. 